<!DOCTYPE html>
<html lang="zh-CN">
    <head>
        <meta charset="utf-8">
        <meta name="viewport" content="width=device-width, initial-scale=1">
        <meta name="robots" content="noodp" />
        <title>EtherCAT从会到不会——ESI文档、对象字典（4） - 陈的错题集</title><meta name="Description" content="陈的错题集 - 个人笔记"><meta property="og:title" content="EtherCAT从会到不会——ESI文档、对象字典（4）" />
<meta property="og:description" content="本来还想着起什么名字，但是对比起内容，名字什么的一点都不重要。 最近我又想起要写点什么东西防止最后什么都不剩下。那就从EtherCAT开始吧！" />
<meta property="og:type" content="article" />
<meta property="og:url" content="https://example.com/ethercat_04esi_0d/" /><meta property="og:image" content="https://example.com/logo.png"/><meta property="article:section" content="posts" />
<meta property="article:published_time" content="2023-09-11T23:32:50+08:00" />
<meta property="article:modified_time" content="2023-09-11T23:32:50+08:00" /><meta property="og:site_name" content="陈的错题集" />
<meta name="twitter:card" content="summary_large_image"/>
<meta name="twitter:image" content="https://example.com/logo.png"/>

<meta name="twitter:title" content="EtherCAT从会到不会——ESI文档、对象字典（4）"/>
<meta name="twitter:description" content="本来还想着起什么名字，但是对比起内容，名字什么的一点都不重要。 最近我又想起要写点什么东西防止最后什么都不剩下。那就从EtherCAT开始吧！"/>
<meta name="application-name" content="陈的错题集">
<meta name="apple-mobile-web-app-title" content="陈的错题集"><meta name="theme-color" content="#ffffff"><meta name="msapplication-TileColor" content="#da532c"><link rel="shortcut icon" type="image/x-icon" href="/favicon.ico" />
        <link rel="icon" type="image/png" sizes="32x32" href="/favicon-32x32.png">
        <link rel="icon" type="image/png" sizes="16x16" href="/favicon-16x16.png"><link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png"><link rel="mask-icon" href="/safari-pinned-tab.svg" color="#5bbad5"><link rel="manifest" href="/site.webmanifest"><link rel="canonical" href="https://example.com/ethercat_04esi_0d/" /><link rel="prev" href="https://example.com/ethercat_03protocol/" /><link rel="next" href="https://example.com/ethercat_05allprocess/" /><link rel="stylesheet" href="/css/style.min.css"><link rel="preload" href="https://cdn.jsdelivr.net/npm/@fortawesome/fontawesome-free@6.1.1/css/all.min.css" as="style" onload="this.onload=null;this.rel='stylesheet'">
        <noscript><link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/@fortawesome/fontawesome-free@6.1.1/css/all.min.css"></noscript><link rel="preload" href="https://cdn.jsdelivr.net/npm/animate.css@4.1.1/animate.min.css" as="style" onload="this.onload=null;this.rel='stylesheet'">
        <noscript><link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/animate.css@4.1.1/animate.min.css"></noscript><script type="application/ld+json">
    {
        "@context": "http://schema.org",
        "@type": "BlogPosting",
        "headline": "EtherCAT从会到不会——ESI文档、对象字典（4）",
        "inLanguage": "zh-CN",
        "mainEntityOfPage": {
            "@type": "WebPage",
            "@id": "https:\/\/example.com\/ethercat_04esi_0d\/"
        },"image": ["https:\/\/example.com\/images\/Apple-Devices-Preview.png"],"genre": "posts","keywords": "EtherCAT","wordcount":  1668 ,
        "url": "https:\/\/example.com\/ethercat_04esi_0d\/","datePublished": "2023-09-11T23:32:50+08:00","dateModified": "2023-09-11T23:32:50+08:00","publisher": {
            "@type": "Organization",
            "name": "xxxx","logo": "https:\/\/example.com\/images\/avatar.png"},"author": {
                "@type": "Person",
                "name": "Jacob Chen"
            },"description": ""
    }
    </script></head>
    <body data-header-desktop="fixed" data-header-mobile="auto"><script type="text/javascript">(window.localStorage && localStorage.getItem('theme') ? localStorage.getItem('theme') === 'dark' : ('auto' === 'auto' ? window.matchMedia('(prefers-color-scheme: dark)').matches : 'auto' === 'dark')) && document.body.setAttribute('theme', 'dark');</script>

        <div id="mask"></div><div class="wrapper"><header class="desktop" id="header-desktop">
    <div class="header-wrapper">
        <div class="header-title">
            <a href="/" title="陈的错题集">💻陈的错题集</a>
        </div>
        <div class="menu">
            <div class="menu-inner"><a class="menu-item" href="/posts/"> 📜归档 </a><a class="menu-item" href="/tags/"> 🏷️标签 </a><a class="menu-item" href="/categories/"> 📂分类 </a><a class="menu-item" href="/about/"> ⭐关于 </a><span class="menu-item delimiter"></span><span class="menu-item search" id="search-desktop">
                        <input type="text" placeholder=" " id="search-input-desktop">
                        <a href="javascript:void(0);" class="search-button search-toggle" id="search-toggle-desktop" title="搜索">
                            <i class="fas fa-search fa-fw" aria-hidden="true"></i>
                        </a>
                        <a href="javascript:void(0);" class="search-button search-clear" id="search-clear-desktop" title="清空">
                            <i class="fas fa-times-circle fa-fw" aria-hidden="true"></i>
                        </a>
                        <span class="search-button search-loading" id="search-loading-desktop">
                            <i class="fas fa-spinner fa-fw fa-spin" aria-hidden="true"></i>
                        </span>
                    </span><a href="javascript:void(0);" class="menu-item theme-switch" title="切换主题">
                    <i class="fas fa-adjust fa-fw" aria-hidden="true"></i>
                </a></div>
        </div>
    </div>
</header><header class="mobile" id="header-mobile">
    <div class="header-container">
        <div class="header-wrapper">
            <div class="header-title">
                <a href="/" title="陈的错题集">💻陈的错题集</a>
            </div>
            <div class="menu-toggle" id="menu-toggle-mobile">
                <span></span><span></span><span></span>
            </div>
        </div>
        <div class="menu" id="menu-mobile"><div class="search-wrapper">
                    <div class="search mobile" id="search-mobile">
                        <input type="text" placeholder=" " id="search-input-mobile">
                        <a href="javascript:void(0);" class="search-button search-toggle" id="search-toggle-mobile" title="搜索">
                            <i class="fas fa-search fa-fw" aria-hidden="true"></i>
                        </a>
                        <a href="javascript:void(0);" class="search-button search-clear" id="search-clear-mobile" title="清空">
                            <i class="fas fa-times-circle fa-fw" aria-hidden="true"></i>
                        </a>
                        <span class="search-button search-loading" id="search-loading-mobile">
                            <i class="fas fa-spinner fa-fw fa-spin" aria-hidden="true"></i>
                        </span>
                    </div>
                    <a href="javascript:void(0);" class="search-cancel" id="search-cancel-mobile">
                        取消
                    </a>
                </div><a class="menu-item" href="/posts/" title="">📜归档</a><a class="menu-item" href="/tags/" title="">🏷️标签</a><a class="menu-item" href="/categories/" title="">📂分类</a><a class="menu-item" href="/about/" title="">⭐关于</a><a href="javascript:void(0);" class="menu-item theme-switch" title="切换主题">
                <i class="fas fa-adjust fa-fw" aria-hidden="true"></i>
            </a></div>
    </div>
</header><div class="search-dropdown desktop">
        <div id="search-dropdown-desktop"></div>
    </div>
    <div class="search-dropdown mobile">
        <div id="search-dropdown-mobile"></div>
    </div><main class="main">
                <div class="container"><div class="toc" id="toc-auto">
            <h2 class="toc-title">目录</h2>
            <div class="toc-content" id="toc-content-auto"></div>
        </div><article class="page single"><h1 class="single-title animate__animated animate__flipInX">EtherCAT从会到不会——ESI文档、对象字典（4）</h1><div class="post-meta">
            <div class="post-meta-line"><span class="post-author"><a href="/" title="Author" rel="author" class="author"><i class="fas fa-user-circle fa-fw" aria-hidden="true"></i>Jacob Chen</a></span>&nbsp;<span class="post-category">收录于 <a href="/categories/%E7%8E%B0%E5%9C%BA%E6%80%BB%E7%BA%BF/"><i class="far fa-folder fa-fw" aria-hidden="true"></i>现场总线</a></span></div>
            <div class="post-meta-line"><i class="far fa-calendar-alt fa-fw" aria-hidden="true"></i>&nbsp;<time datetime="2023-09-11">2023-09-11</time>&nbsp;<i class="fas fa-pencil-alt fa-fw" aria-hidden="true"></i>&nbsp;约 1668 字&nbsp;
                <i class="far fa-clock fa-fw" aria-hidden="true"></i>&nbsp;预计阅读 4 分钟&nbsp;</div>
        </div><div class="details toc" id="toc-static"  data-kept="">
                <div class="details-summary toc-title">
                    <span>目录</span>
                    <span><i class="details-icon fas fa-angle-right" aria-hidden="true"></i></span>
                </div>
                <div class="details-content toc-content" id="toc-content-static"><nav id="TableOfContents">
  <ul>
    <li><a href="#esiethercat-slave-information文件">ESI（EtherCAT Slave Information）文件</a>
      <ul>
        <li><a href="#内容结构">内容结构</a></li>
      </ul>
    </li>
    <li><a href="#对象字典object-dictionary">对象字典（Object Dictionary）</a>
      <ul>
        <li><a href="#分类">分类</a></li>
        <li><a href="#通讯方式">通讯方式</a></li>
        <li><a href="#周期性数据process-data">周期性数据（Process Data）</a></li>
        <li><a href="#非周期性数据mailbox">非周期性数据（Mailbox）</a></li>
      </ul>
    </li>
    <li><a href="#syncmanager">SyncManager</a>
      <ul>
        <li><a href="#通讯模式">通讯模式</a></li>
        <li><a href="#buffered-mode">Buffered Mode</a></li>
        <li><a href="#mailbox-mode">Mailbox Mode</a></li>
      </ul>
    </li>
    <li><a href="#mailbox-通讯协议封包">MailBox 通讯协议（封包）</a></li>
  </ul>
</nav></div>
            </div><div class="content" id="content"><!-- # EtherCAT从会到不会——ESI文档、对象字典（4） -->
<blockquote>
<p>本来还想着起什么名字，但是对比起内容，名字什么的一点都不重要。<br/>
最近我又想起要写点什么东西防止最后什么都不剩下。那就从EtherCAT开始吧！</p>
</blockquote>
<h2 id="esiethercat-slave-information文件">ESI（EtherCAT Slave Information）文件</h2>
<p>每一个EtherCAT从站都有一份ESI文件。该文件是用于描述从站的信息及功能的。主站也必须通过该ESI文件对从站进行控制。</p>
<p>为了实现主站与从站的通讯，主站所持有的ESI文件一般要与从站内部EEPROM的ESI文件一致。当二者不一致时，则有可能导致EtherCAT通讯建立不起来。</p>
<h3 id="内容结构">内容结构</h3>
<p>ESi文件一般都是以XML格式的文件存在。具体文件内容的格式大致如下</p>
<ul>
<li>EtherCATInfo
<ul>
<li>Vendor（厂商信息）</li>
<li>Descriptions（描述）
<ul>
<li>Groups（组，指代ESI文件所描述的设备的类型）</li>
<li>Devices（设备组，一个ESI可以包括多组设备）
<ul>
<li>Device（设备）
<ul>
<li>Type（类型，包括产品ID、版本ID、名称）</li>
<li>Name（名称）</li>
<li>Info（超时信息，包括状态机切换超时、Mailbox通讯超时）</li>
<li>GroupType（组类型，如伺服驱动器）</li>
<li>Profile（配置文件）
<ul>
<li>ChannelInfo（配置文件版本信息，如Codesys认证过的ESI文件，这个值为402</li>
<li>Dictionary（对象字典，描述从站所有支持的OD数据及类型）</li>
</ul>
</li>
<li>Fmmu、sm（描述从站的配置信息，要与从站的一致）</li>
<li>RxPdo（主站to从站的PDO列表）</li>
<li>TxPdo（从站to主站的PDO列表）</li>
<li>MailBox（SDO通讯信息，一般为初始化信息，即Codesys设备的启动参数）</li>
<li>Dc（从站的同步模式，Free Run、SM Event、Dc Mode）</li>
<li>Eeprom（EEPROM空间大小、配置数据等信息）</li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
</ul>
<h2 id="对象字典object-dictionary">对象字典（Object Dictionary）</h2>
<p>对象字典（Object Dictionary，简称OD）是EtherCAT总线中通用的参数格式。除了部分各个厂家自定部分的数据之外，其他OD定义基本都一样。</p>
<h3 id="分类">分类</h3>
<table>
<thead>
<tr>
<th>Index</th>
<th>组别</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>0x0000 ~ 0x0FFF</td>
<td>数据格式</td>
<td>ESC配置使用</td>
</tr>
<tr>
<td>0x1000 ~ 0x1FFF</td>
<td>通讯</td>
<td>通讯参数</td>
</tr>
<tr>
<td>0x2000 ~ 0x2FFF</td>
<td>厂家自定义</td>
<td>一般为厂家自定义参数，如伺服的参数</td>
</tr>
<tr>
<td>0x6000 ~ 0x6FFF</td>
<td>通讯对象</td>
<td>CIA 402对象组</td>
</tr>
</tbody>
</table>
<h3 id="通讯方式">通讯方式</h3>
<h3 id="周期性数据process-data">周期性数据（Process Data）</h3>
<p>由于EtherCAT一般采用COE协议对从站进行周期性数据的交换。所以如不特殊说明，一般讲EtherCAT通讯的周期数据，都是指<strong>PDO</strong>。主站通过与从站交互PDO数据从而实现对从站设备的实时控制。</p>
<h3 id="非周期性数据mailbox">非周期性数据（Mailbox）</h3>
<p>同理，非周期数据一般就指代<strong>SDO</strong>。</p>
<h2 id="syncmanager">SyncManager</h2>
<p>SyncManager用于保证主站与从站之间数据交换的一致性和安全性，并在数据发生改变时，使用中断通知主从站双方。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager.png"
        title="SyncManager" /></p>
<h3 id="通讯模式">通讯模式</h3>
<p>SyncManager分别支持 <strong>Buffered Mode</strong> 和 <strong>Mailbox Mode</strong> 两种方式的通讯。</p>
<h3 id="buffered-mode">Buffered Mode</h3>
<p>缓存模式，是SyncManager提供的一种可以同时读取和写入而不相互影响的模式。但是，如果写入速度大于读出速度，则旧数据就会被舍弃。缓存模式也被称为3缓存模式（3-buffer-mode）</p>
<p>此种模式主要用于EtherCAT总线的周期性数据<strong>Process Data</strong>，简单理解即PDO。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-BufferedMode.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-BufferedMode.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-BufferedMode.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-BufferedMode.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-BufferedMode.png"
        title="缓存模式" /></p>
<ul>
<li>当EtherCAT总线每个周期都将最新的数据存储到①号缓存区。当写入完成之后，缓存区①与缓存区②交换数据。</li>
<li>每次控制周期伊始，从站会从缓存区③读取数据，当缓存区③数据读取完成，且缓存区①与②完成了数据交换之后。缓存区②与缓存区③之后再交换数据。</li>
</ul>
<h3 id="mailbox-mode">Mailbox Mode</h3>
<p>邮箱模式，是一种只能允许交替读写缓存的模式。缓存器同一时间只能缓存区进行一次读或者写的操作，只有写入操作完成，才可以进行读取。</p>
<p>邮箱模式，主要用于EtherCAT总线的非周期性数据<strong>MailBox</strong>，即SDO。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-MailBox.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-MailBox.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-MailBox.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-MailBox.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/SyncManager-MailBox.png"
        title="Mailbox" /></p>
<h2 id="mailbox-通讯协议封包">MailBox 通讯协议（封包）</h2>
<p>补充说明MailBox通讯的EtherCAT封包格式。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox%e5%b0%81%e5%8c%851.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox%e5%b0%81%e5%8c%851.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox%e5%b0%81%e5%8c%851.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox%e5%b0%81%e5%8c%851.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox封包1.png"
        title="MailBox封包1" /></p>
<p><strong>MailBox Datagram Header</strong>
<img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox%e5%b0%81%e5%8c%852.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox%e5%b0%81%e5%8c%852.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox%e5%b0%81%e5%8c%852.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox%e5%b0%81%e5%8c%852.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/MailBox封包2.png"
        title="MailBox封包2" /></p>
<table>
<thead>
<tr>
<th>字段</th>
<th>数据类型</th>
<th>描述</th>
</tr>
</thead>
<tbody>
<tr>
<td>Length</td>
<td>WORD</td>
<td>该命令的字节数据，不包括Header</td>
</tr>
<tr>
<td>Address</td>
<td>WORD</td>
<td>从站地址</td>
</tr>
<tr>
<td>Channel</td>
<td>6bit</td>
<td>0。保留</td>
</tr>
<tr>
<td>Priority</td>
<td>2bit</td>
<td>优先级别：0（最低）~3（最高）</td>
</tr>
<tr>
<td>Type</td>
<td>4bit</td>
<td>Mailbox类型：<br/>0x0：MailBox Error <br/>0x1: Vendor specific (Beckhoff: AoE – ADS over EtherCAT) <br/>0x2: EoE (Ethernet over EtherCAT) <br/>0x3: CoE (CANopen over EtherCAT) <br/>0x4: FoE (File access over EtherCAT) <br/>0x5: SoE (Servo profile over EtherCAT) <br/>0xF: Vendor specific (VoE)</td>
</tr>
<tr>
<td>Ctr.</td>
<td>3bit</td>
<td>用于检测重复帧的序列号，每个新的Mailbox + 1</td>
</tr>
<tr>
<td>Reserved</td>
<td>1bit</td>
<td>0</td>
</tr>
</tbody>
</table>
</div><div class="post-footer" id="post-footer">
    <div class="post-info">
        <div class="post-info-line">
            <div class="post-info-mod">
                <span>更新于 2023-09-11</span>
            </div></div>
        <div class="post-info-line">
            <div class="post-info-md"><span>
                            <a class="link-to-markdown" href="/ethercat_04esi_0d/index.md" target="_blank">阅读原始文档</a>
                        </span></div>
            <div class="post-info-share">
                <span></span>
            </div>
        </div>
    </div>

    <div class="post-info-more">
        <section class="post-tags"><i class="fas fa-tags fa-fw" aria-hidden="true"></i>&nbsp;<a href="/tags/ethercat/">EtherCAT</a></section>
        <section>
            <span><a href="javascript:void(0);" onclick="window.history.back();">返回</a></span>&nbsp;|&nbsp;<span><a href="/">主页</a></span>
        </section>
    </div>

    <div class="post-nav"><a href="/ethercat_03protocol/" class="prev" rel="prev" title="EtherCAT从会到不会——封包解析（3）"><i class="fas fa-angle-left fa-fw" aria-hidden="true"></i>EtherCAT从会到不会——封包解析（3）</a>
            <a href="/ethercat_05allprocess/" class="next" rel="next" title="EtherCAT从会到不会——EtherCAT通讯全流程（5）">EtherCAT从会到不会——EtherCAT通讯全流程（5）<i class="fas fa-angle-right fa-fw" aria-hidden="true"></i></a></div>
</div>
</article></div>
            </main><footer class="footer">
        <div class="footer-container"><div class="footer-line">由 <a href="https://gohugo.io/" target="_blank" rel="noopener noreffer" title="Hugo 0.115.4">Hugo</a> 强力驱动 | 主题 - <a href="https://github.com/dillonzq/LoveIt" target="_blank" rel="noopener noreffer" title="LoveIt 0.2.11"><i class="far fa-kiss-wink-heart fa-fw" aria-hidden="true"></i> LoveIt</a>
                </div><div class="footer-line" itemscope itemtype="http://schema.org/CreativeWork"><i class="far fa-copyright fa-fw" aria-hidden="true"></i><span itemprop="copyrightYear">2023 - 2024</span><span class="author" itemprop="copyrightHolder">&nbsp;<a href="/" target="_blank">Jacob Chen</a></span>&nbsp;|&nbsp;<span class="license"><a rel="license external nofollow noopener noreffer" href="https://creativecommons.org/licenses/by-nc-sa/4.0/" target="_blank">CC BY-NC-SA 4.0</a></span></div>
        </div>
    </footer></div>

        <div id="fixed-buttons"><a href="#" id="back-to-top" class="fixed-button" title="回到顶部">
                <i class="fas fa-arrow-up fa-fw" aria-hidden="true"></i>
            </a><a href="#" id="view-comments" class="fixed-button" title="查看评论">
                <i class="fas fa-comment fa-fw" aria-hidden="true"></i>
            </a>
        </div><script type="text/javascript" src="https://cdn.jsdelivr.net/npm/autocomplete.js@0.38.1/dist/autocomplete.min.js"></script><script type="text/javascript" src="https://cdn.jsdelivr.net/npm/lunr@2.3.9/lunr.min.js"></script><script type="text/javascript" src="/lib/lunr/lunr.stemmer.support.min.js"></script><script type="text/javascript" src="/lib/lunr/lunr.zh.min.js"></script><script type="text/javascript" src="https://cdn.jsdelivr.net/npm/lazysizes@5.3.2/lazysizes.min.js"></script><script type="text/javascript" src="https://cdn.jsdelivr.net/npm/clipboard@2.0.11/dist/clipboard.min.js"></script><script type="text/javascript">window.config={"code":{"copyTitle":"复制到剪贴板","maxShownLines":50},"comment":{},"search":{"highlightTag":"em","lunrIndexURL":"/index.json","lunrLanguageCode":"zh","lunrSegmentitURL":"/lib/lunr/lunr.segmentit.js","maxResultLength":10,"noResultsFound":"没有找到结果","snippetLength":30,"type":"lunr"}};</script><script type="text/javascript" src="/js/theme.min.js"></script></body>
</html>
